Package frc.lib5k.components.drive

Class DifferentialDriveCalculation

  • public class DifferentialDriveCalculation
extends java.lang.Object
    Helpers for calculating differential drive kinematics

    • Method Summary

      All Methods Static Methods Concrete Methods 
      Modifier and Type Method Description
      static DriveSignal arcade​(double speed, double rotation)
      Calculate a percent motor output from speed and rotation inputs using "arcade calculation"
      static DriveSignal normalize​(DriveSignal signal)
      Normalize a percent output DriveSignal
      static DriveSignal semiConstCurve​(double speed, double rotation)
      Calculate a percent motor output from speed and rotation inputs using "semi-constant curvature" calculation

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • DifferentialDriveCalculation

        public DifferentialDriveCalculation()

    • Method Detail

      • normalize

        public static DriveSignal normalize​(DriveSignal signal)
        Normalize a percent output DriveSignal
        Parameters:
        signal - Input signal
        Returns:
        Normalized signal

      • semiConstCurve

        public static DriveSignal semiConstCurve​(double speed,
                                         double rotation)
        Calculate a percent motor output from speed and rotation inputs using "semi-constant curvature" calculation
        Parameters:
        speed - Desired speed
        rotation - Desired rotation
        Returns:
        Computed DriveSignal

      • arcade

        public static DriveSignal arcade​(double speed,
                                 double rotation)
        Calculate a percent motor output from speed and rotation inputs using "arcade calculation"
        Parameters:
        speed - Desired speed
        rotation - Desired rotation
        Returns:
        Computed DriveSignal